JP2022172308A - Reciprocation apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tool usable in an irradiated environment that is configured to carry a device thereon into an interior region of a core shroud of a boiling water reactor, the tool being received into the interior region in use.

SOLUTION: The tool includes an elongated frame, an elevator apparatus situated on the frame, and a manipulator apparatus situated on the elevator apparatus. The tool further includes a reciprocation apparatus that is situated on the manipulator apparatus and that has a mount that is configured to carry a device thereon. The reciprocation apparatus includes an elongated rack of an arcuate profile. The elevator apparatus is operable to move the reciprocation apparatus along the longitudinal extent of the frame. The tool further includes a foot apparatus that is situated at an end of the frame and that can be fitted to a core plate to enable, when the tool is fitted to the core plate, the frame to be pivoted about an axis of elongation of the frame with respect to the core plate.

SELECTED DRAWING: None

COPYRIGHT: (C)2023,JPO&INPIT

Description

The invention disclosed and claimed herein relates generally to tools that can be used in an irradiated environment, and in particular, to be received in an interior region of the core shroud of a boiling water reactor in use to deliver devices to that interior region. regarding tools configured to

Many types of nuclear reactors are known to exist in the related art. Such well-known nuclear reactors include pressurized water reactors (PWR) and boiling water reactors (BWR), both of which are commonly connected to a generator that is part of a nuclear power plant.

Various components and structures within a nuclear reactor are periodically inspected to assess the structural integrity of such components and structures and to determine the need for repairs. Ultrasonic inspection is a well-known technique for detecting cracks in nuclear reactor components and structures. However, evaluation using inspection tools is difficult due to access restrictions in the inspection area within the reactor. For example, cracks in the core shroud of a BWR are subject to regular inspection and evaluation because they can degrade structural integrity and interfere with plant operation. However, core shroud welds are not easily accessible. More specifically, such access to the cylindrical outer surface of the core shroud is generally provided by adjacent jet pumps in the annular space between the outer surface of the core shroud and the inner surface of the reactor pressure vessel. limited to the area between Access for ultrasonic scanning is between the inner surface of the reactor pressure vessel and jet pumps and other accessories such as riser braces and restrainer brackets projecting radially outward from the outer cylindrical surface of the core shroud. Confined within a tighter space. Furthermore, depending on the specific plant equipment, some core shrouds and welded attachments are completely inaccessible on the core shroud outer surface.

Additionally, inspection areas within the reactor are highly radioactive and can pose a safety risk to workers working within the area. Inspection and repair of nuclear reactors, such as BWRs, typically operate and/or position inspection devices through manually controlled poles and ropes. Inspection and repair of some components during reactor shutdown requires installation of inspection manipulator devices at depths of 30 to 100 feet in the reactor coolant. The operation of installing and removing manipulators at such depths takes a relatively long time, which can affect the duration of plant outages. Also, performing an inspection may require several different manipulators for different inspection devices, or a change in manipulator operation mode, which requires additional manipulator installation and removal work and additional costs. . Longer installation and removal times not only affect the duration of plant outages, but also increase the exposure of inspecting workers to radiation and contaminants.

Therefore, power producers want to reduce the number of installations and removals of manipulators in order to reduce radiation exposure and reduce plant outage costs and impacts. Power producers also want to reduce costs and maximize operating efficiency. Therefore, improvement measures are desired.

The improved tool is configured to be received in the inner region of the core shroud of a BWR. The tool is configured to load the device into the interior region. This device may be inspection equipment or another device capable of ultrasonically scanning the core shroud. The tool includes an elongated frame, a lifting device on the frame, and a manipulator device on the lifting device. The tool further includes a reciprocating device on the manipulator device, the reciprocating device having a mount configured to carry the device. The reciprocator includes an arcuate elongated rack that conforms to the contour of the inner surface of the core shroud. Movement of the elongated rack relative to the manipulator apparatus moves the mounts on the rack and the device mounted on the mounts in an arcuate path to perform a circumferential inspection of the core shroud. . The elevator is operable to move the shuttle along the elongated frame to axially move the mount and the device mounted thereon over the core shroud. The manipulator device is operable to move the reciprocating device between a retracted position and a deployed position, wherein the manipulator device fits within the elongated interior space of the frame in the retracted position and extends in the deployed position. , is removed from the interior space and the device is deployed for inspection. In the retracted position, the tool can be loaded through an opening in the BWR's upper grid plate into the fuel cell after the nuclear fuel has been removed. The tool further includes a foot device located at an end of the frame that, when fitted onto the core plate, pivots the frame relative to the core plate about the longitudinal axis of the frame. can be made

Accordingly, one aspect of the presently disclosed and claimed invention is a modified shroud configured to be received in an interior region of the core shroud of a BWR and adapted to carry inspection or other devices into that interior region. It is to provide tools.

Another aspect of the presently disclosed and claimed invention provides an improved tool that can be loaded into the fuel cell of the BWR after the nuclear fuel has been removed through the opening in the upper grid plate. That is.

Another aspect of the presently disclosed and claimed invention has a reciprocator operable to move a mount-mounted device along an arcuate path on the inner surface of the core shroud of the BWR. , to provide an improved tool.

Another aspect of the presently disclosed and claimed invention is a reciprocator receivable on such a tool for moving a device mounted on the reciprocator mount along an arcuate path. To provide a reciprocating device configured to:

Another aspect of the presently disclosed and claimed invention is to provide an improved tool having a manipulator device mountable in one of a pair of motion configurations on a lifting device. The manipulator device extends from the lifting device generally toward the foot device in a first configuration of operation and extends from the lifting device generally away from the foot device in a second configuration of operation.

The above and other aspects of the presently disclosed and claimed invention are improvements configured to be acceptable to, and to carry devices into, the interior region of the core shroud of a boiling water reactor. Provided by the type tool. The tool is generally elongated in the direction of the longitudinal axis and has an interior space elongated in the direction of the longitudinal axis; a lifting device on the frame; and a reciprocating device generally mounted on the manipulator device and including an elongated support, the reciprocating device further generally mounted on the support and configured to carry the device. a mounted mounting base, the lifting device being operable to move the manipulator device between a first position and a second position longitudinally of the frame, the manipulator device being adapted for the reciprocating movement moving the device between a first position in which at least a portion of the support is contained within the interior space and a second position in which the support and the mount are removed from the interior space; The tool also includes a foot assembly mounted on the frame and generally consisting of a number of feet and a pivoting mechanism, the multiple feet mounted at the end of the frame being attached to the boiling water. The pivoting mechanism is configured to fit into at least one of a fuel support fitting, a control rod guide tube and a core plate of a type nuclear reactor, and the pivoting mechanism has the plurality of legs attached to the fuel support fitting and the control rod guide. The frame is configured to pivot about the longitudinal axis with respect to the multiple legs upon mating with the at least one of the tubes and the core plate.

Another aspect of the presently disclosed and claimed invention is an improved reciprocating shroud mounted on a tool receivable in the interior region of the core shroud of a boiling water reactor and configured to deliver devices to the interior region. Provided by a mobile device. The reciprocating device generally includes a platform configured to mount on the tool and having first and second opposite sides and an elongated support on the platform, the support has first and second opposite ends, the support is movable relative to the platform in a first direction along the longitudinal axis, and moves in the first direction Then, when the first end moves away from the first side relatively and moves in a second direction opposite to the first direction, the second end moves to the Moving relatively away from the second side, the reciprocating device further includes a flexible elongated belt secured to the platform at one or more locations along its length; The belt extends around at least a portion of the support to form a closed loop, such that movement of the support in the first direction and the second direction causes the belt to extend over the at least a portion of the support. and the reciprocating device further includes a mount mounted on the belt and configured to carry the device; and one of the support, the platform and the belt. and a drive mechanism operably extending between the reciprocating device and the reciprocating device, the drive mechanism configured to move the reciprocating device between a first state of the reciprocating device and a second state of the reciprocating device. and in the first state the portion of the support extending from the first side is relatively larger than the portion of the support extending from the second side; The mount is positioned relatively closer to the first end than the second end, and in the second state the portion of the support extending from the second side extends from the second end. The portion of the support extending from one side is relatively larger and the mount is located relatively closer to the second end than to the first end.

The details of the invention disclosed and claimed in this application are described below with reference to the accompanying drawings.

1 is a perspective view of an improved tool in accordance with a first aspect of the presently disclosed and claimed invention and an improved reciprocating device in accordance with another aspect of the presently disclosed and claimed invention, with a first position on the tool; FIG. 1 shows the manipulator device in one operating configuration and the improved reciprocating device in a central position on the manipulator device;

2 is a top plan view of the tool of FIG. 1 looking through the upper grate plate of a boiling water reactor, the tool being positioned within a fuel cell on the core plate of the boiling water reactor; FIG.

FIG. 2 is a view similar to FIG. 1, except that the manipulator device is at another longitudinal position of the tool;

Figure 3 is an elevational view of the tool of Figure 1 received in the boiling water reactor of Figure 2, showing the manipulator apparatus on the tool in a second operational configuration;

FIG. 2 is a view similar to FIG. 1, except that the manipulator device is in a second configuration of operation and the reciprocating device is in another off-center position;

FIG. 6 is a view similar to FIG. 5, except that the manipulator device is at another longitudinal position of the tool and the reciprocating device is positioned beyond the frame of the tool and adjacent to the foot device of the tool;

FIG. 7 is a view similar to FIG. 6, except that it is a top plan view of the tool;

Figure 7 is a view similar to Figure 6, except that it is a front view of the tool;

FIG. 6 is a view similar to FIG. 5, except that the manipulator device is in the retracted position and the support of the reciprocating device is within the elongated interior space of the frame;

FIG. 10 is a view similar to FIG. 9, except that it is a side view of the tool;

11 is a cross-sectional view taken along line 11-11 of FIG. 9; FIG.

12 is an enlarged view within the frame of FIG. 11; FIG.

FIG. 10 is a view similar to FIG. 9 except that it is a top plan view of the tool;

Figure 2 is a side elevational view of the manipulator device of the tool shown in Figure 1;

Figure 14 is a front elevational view of the manipulator device of Figure 13;

Figure 15 is a cross-sectional view taken along line 15-15 of Figure 13;

Figure 6 is a perspective view of the manipulator device and reciprocating device in a position similar to that shown in Figure 5;

Figure 17 is similar to Figure 16, except that the reciprocating device is in a different position relative to the manipulator device;

FIG. 17 is a view similar to FIG. 16, except that it is a front view of the manipulator device and reciprocating device;

2 is a top plan view of the reciprocating device of FIG. 1; FIG.

Figure 20 is a rear elevation view of the reciprocator of Figure 19;

FIG. 20 is a view similar to FIG. 19, except the reciprocating device is in another position;

22 is a cross-sectional view taken along line 22-22 of FIG. 19; FIG.

The same reference numbers refer to the same parts throughout the specification.

An improved tool 4 according to one aspect of the invention disclosed and claimed herein is shown schematically in FIGS. 1-12, and partially shown in FIGS. 13-22. Tool 4 is configured to load device 6 (FIG. 7) into interior region 8 of a nuclear reactor, such as boiling water reactor (BWR) 10 shown in FIG. Device 6 may be, for example, an ultrasound inspection device, other inspection or evaluation device, or any device that physically interacts with objects in interior region 8 (as a non-limiting example, grasps or moves objects in interior region 8). device) may be used.

As shown in FIG. 2, the annular shroud 12 of the BWR 10 is in the interior region of the reactor pressure vessel 13 . An inner surface 14 of the shroud 12 opposite the reactor pressure vessel 13 is the surface on which the shroud 12 can be inspected by a tool 4 equipped with a device 6, such as an ultrasonic sensor. As can be seen in FIG. 4, shroud 12 has numerous welds, such as vertical welds 16 and horizontal welds 18 . As used herein, the expression "many" and variations thereof refers broadly to any quantity, including one, except zero. It can be said that the vertical welds 16 extend in the axial direction 17 of the shroud 12 and the horizontal welds 18 extend in the circumferential direction 19 (sometimes referred to as the azimuthal direction).

As can be seen in FIG. 2, the BWR 10 further includes a core plate 20 and an upper grate plate 26 spaced vertically above the core plate 20 on which the tools 4 can be placed. A plurality of fuel cells 22 are formed within the BWR 10 for receiving nuclear fuel during operation, each cell having an opening formed in an upper grid plate 26 . It should be noted that the BWR 10 of FIGS. 2 and 4 is in a state in which all fuel has been taken out for the sake of simplicity of illustration. It should also be noted that tool 4 is designed to be used in BWR 10 without removing all fuel and other materials from fuel cell 22 . That is, the tool 4 is installed in a fuel cell 22 after fuel has been removed, but is an advantageous configuration that minimizes the need to remove fuel from adjacent fuel cells 22 . For example, in FIG. 2, the tool 4 is loaded into fuel cell 22A of the plurality of fuel cells 22. As shown in FIG. FIG. 2 also shows the tool 4 pivoted (a manner of which is detailed below) such that a portion of it protrudes into the adjacent fuel cell 22B and the adjacent region 22C, which is not actually charged with fuel. there is Therefore, in order to load the fuel cell 22A with the tool 4 and inspect the inner surface 14 in the vicinity of the fuel cells 22A, 22B, it is necessary to remove fuel from other fuel cells 22 that are not loaded in FIG. is not required and it can be seen that only the fuel cells 22A, 22B need to be fueled in such circumstances. Advantageously, this reduces the amount of fuel that must be removed from the fuel cell 22 to inspect the inner surface 14 of the shroud 12, thereby reducing the time and effort required to inspect the inner surface 14 of the shroud 12.

Further, as shown in FIG. 2, core plate 20 is provided with a plurality of sockets (simplified by reference numerals 24A, 24B, 24C and 24D), collectively or individually designated by reference numeral 24. There is Each fuel cell 22 includes a set of sockets 24A, 24B, 24C, 24D configured to receive couplings of tool 4 (described in greater detail below). During operation of BWR 10, sockets 24 receive reactor fuel support fittings and various fuel grid structures. Therefore, when inspecting BWR 10 or performing work with tool 4, in order to load tool 4 into one of fuel cells 22 near inner surface 8, the fuel contained in that fuel cell is removed. need to be taken out. As will be described below, it may be necessary to remove the contained fuel from another one or two fuel cells 22 adjacent to the fuel cell 22 in which the tool 4 is loaded in order to allow the tool 4 to operate. do not have.

As can be seen in FIG. 1, tool 4 is connected to computer system 28 via umbilical 30 . Computer system 28 has input devices including various input devices such as keyboards, joysticks, and other control input devices. Computer system 28 also has output devices, including various output devices (as non-limiting examples include visual displays, printers, and audio output systems such as speakers). Computer system 28 further includes a processor unit in communication with the input and output devices and for executing various routines thereon to cause tool 4 to perform various operations. It should be understood that the tool 4 and its various subassemblies are robotic in nature in the sense that the on-board actuators are electronically actuated via electric or pneumatic motors, cylinders, or the like. Thus, umbilical 30 may include air or other fluid channels that supply fluid to tool 4, as well as electronic communication channels in the form of wires and the like, for actuating certain subassemblies of tool 4. can. In this regard, computer system 28 may communicate wirelessly with tool 4 without departing from the spirit of the invention.

The tool 4 can be said to include a frame 32 elongated in the direction of its longitudinal axis 34 . Tool 4 further includes foot devices 36 located at the ends of frame 32 . The foot assembly includes a foot assembly 37 having a set of four feet 38 configured to plug into sockets 28A, 28B, 28C, 28D of fuel cell 22 into which tool 4 is loaded. In this regard, feet 38 may fit into any of the various components of BWR 10 (one or more of fuel support fittings, control rod guide tubes, and core plate 20 of BWR 10 as non-limiting examples). can be combined. The fuel support fittings are the part of the reactor hardware that sits on top of the control rod guide tubes. The top of the control rod guide tubes protrudes slightly from the top of the core plate 20 and supports the weight of the fuel support fittings. If the control rod guide tubes and/or fuel support fittings have been removed, the foot 38 may be reconfigured as needed, for example, to allow the tool 4 to be placed in the guide tubes or on the core plate 20. .

Foot assembly 36 further includes a pivot mechanism 40 that pivots frame 32 relative to foot 38 about an axis of rotation (which in the illustrated embodiment coincides with longitudinal axis 34). In this regard, pivot mechanism 40 includes a motor 42 connected via gears between frame 32 and foot 38 . The motor, when energized or otherwise actuated, actuates the pivot mechanism 40 to pivot the frame 32 relative to the foot 38 about the longitudinal axis 34 of the frame 32 . More specifically, motor 42 includes shaft 39 and pinion gear 41 on shaft 39, as shown in FIG. 11A. Also on the foot assembly 37 is a reaction gear 43 that is engaged by a pinion gear 41 so that when the motor 42 is energized or otherwise actuated, the frame 32 is centered about the longitudinal axis 34 of the frame 32 relative to the foot 38 . Swirl as Bearings 45 are inserted between the ends of frame 32 and foot assembly 37 to reduce friction as frame 32 pivots relative to foot 38 . In the illustrated embodiment, bearing 45 is a deep groove ball bearing, although other types of bearings can be used without departing from the spirit of the invention.

For example, as shown in FIG. 1, there is an elongated space 44 inside what is considered the front surface 46 of the frame 32 . This internal space 44 is elongated in the direction of the longitudinal axis 34 . Frame 32 is further said to have a rear surface 48 (FIG. 2) opposite front surface 46 and a pair of chamfers 50A, 50B extending respectively between rear surface 48 and a pair of side surfaces 51A, 51B of frame 32. be able to. As can be seen in FIG. 2, the chamfers 50A, 50B (which may be collectively or individually referenced 50) allow the frame 32 and the fuel cells 22 adjacent the fuel cell 22 in which the tool 4 is installed to be removed. A gap is formed between Because of this clearance, when the pivot mechanism 40 pivots the frame 32 relative to the core plate 20, there is no significant risk of the frame 32 abutting or engaging fuel in adjacent fuel cells 22. . Chamfer 50 may be of different configurations and profiles, such as arcuate or arcuate, and may form varying angles with back surface 48 and sides 51A, 51B without departing from the spirit of the invention.

For example, as can be seen in FIGS. 1 and 2, the end of the frame 32 opposite the foot assembly 36 has a head 47 . Head 47 is circular in a plane transverse to longitudinal axis 34 . The head 47 is provided with a doorway 49 through which another device such as a camera 53 can be received. Camera 53 is typically connected to the video system via cable 55 , which may be part of umbilical 30 . By locating the pivot mechanism 40 at the bottom of the tool 4 instead of the top, there is sufficient free space inside the head 47 to advantageously provide a doorway 49 for receiving a camera 53 or other device. A doorway 49 allows access into the interior space 44 , ie from an area vertically above the tool 4 , for example. For example, a camera 53 can be inserted into the interior space 44 through the doorway 49 to remotely monitor the operation of the device 6 and the working conditions of the tool 4 .

A further advantage is that pivoting mechanism 40 is located between foot assembly 37 and frame 44 to pivot the entire frame 44 relative to foot 38, thereby pivoting frame 44 about longitudinal axis 34 to provide underwater movement within BWR 10. , the umbilical 30 can be moved. That is, in certain situations where fuel is extracted from the fuel cell 22, physical collision between the umbilical 30 and the extracted fuel may occur, for example, due to the low internal volume of the BWR. Therefore, when the umbilical 30 is relocated in the water of the BWR 10 by actuating the turning mechanism 40 to turn the frame 44, there is the advantage that physical collision between the umbilical 30 and the extracted fuel can be avoided.

The tool 4 further includes a lifting device 52 mounted on the frame 32 as shown in FIG. 11 and including a drive motor 54 and a drive screw 56 . A drive screw 56 cooperates with a follower 58 (FIG. 16). Drive motor 54 is operatively connected to drive screw 56 , which may be a jackscrew or other form of elongated threaded device, and drive screw 56 is in threaded connection with follower 58 . As shown in FIG. 16, follower 58 is coupled to manipulator device 60 . 8, 10 and 11, when the drive motor 54 is energized or otherwise actuated and the drive screw 56 rotates within the interior space 44, the follower 58, which is in threaded connection with the drive screw 56, rotates. A manipulator device 60 translates along the longitudinal axis 34 of the frame 32 . For example, the position of the manipulator device 60 with respect to the frame 32 in FIG. 1 is different from the position of the manipulator device 60 with respect to the frame 32 in FIG. Translation of the manipulator device 60 along such longitudinal axis 34 within the interior space 44 energizes or otherwise actuates the drive motor 54 of the lifting device 52 and drives a driven motor 54 in threaded connection therewith by means of a drive screw 56 . It occurs by translating body 58 along longitudinal axis 34 .

For example, as can be seen from FIGS. 1 and 16, the manipulator device 60 can be said to include an interconnected stretching device 62 and rotating device 64 . The stretching device 62 is installed on the lifting device 52 , and the rotating device 64 is installed on the stretching device 62 .

The stretching device 62 can be said to include a four-bar linkage 66 and a driver 68 . As best shown in FIG. 16, the four-bar linkage 66 includes a stand 69 on which the follower 58 is mounted, and a first link 70 and a second link 70 pivotally connected to the stand 69 and extending away from the stand 69 . and a body 74 pivotally connected to the ends of the first link 70 and the second link 72 opposite the stand 69 . The combination of stand 69 , first link 70 , second link 72 and body 74 function as four bar linkage 66 .

16-18, driver 68 extends between stand 69 and first link 70 to operatively connect the two. The driver 68 may be, for example, a pneumatic cylinder, a stepper motor, and a variable length, 4-bar linkage 66, for example, in a retracted position as shown schematically in FIGS. It may be any of a wide variety of devices, such as other similar devices configured to operate between extended positions. As will be described in more detail below, the four-bar linkage 66 is in the retracted position shown, for example, in FIGS. 9-12 when the tool 4 is loaded into or removed from the fuel cell 22 . On the other hand, the extension device 62 is generally in an extended position as illustrated in FIGS.

For example, as can be seen from FIGS. 13-15, rotator 64 is mounted on body 74 . Rotating device 64 can be said to include a pair of actuators generally designated by reference numerals 76A, 76B (which may be collectively or individually designated by reference numeral 76). Rotation device 64 further includes a crank 78 pivotally mounted on body 74 and a pedestal 80 mounted on crank 78 . Actuators 76A, 76B each include a cylinder 82A, 82B attached to body 74 and serving as a stationary portion. Further, actuators 76A, 76B each include pistons 84A, 84B functioning as actuators telescopically movable with respect to corresponding cylinders 82A, 82B. Pistons 84 A, 84 B are operatively connected to crank 78 . As can be seen from FIG. 15, the direction of expansion and contraction of actuator 76A and the direction of expansion and contraction of actuator 76B are substantially parallel to each other. Therefore, it can be said that the expansion and contraction directions of the actuator 76 are substantially parallel to each other. Further, the actuators 76A, 76B are arranged side by side. In this regard it can be seen that the manipulator device 60 has a free end 85 at the end of the body 74 opposite the connection with the first link 70 and the second link 72 . Seat 80 adjoins free end 85 and actuators 76 both extend from crank 78 away from free end 85 . As can be seen in FIG. 15, extension of one actuator 76 and simultaneous retraction of the other actuator 76 simultaneously exerts two opposite forces on the ends of the crank 78, causing the seat 80 to move against the body 74. rotate against. This strategic placement and simultaneous actuation of the actuators 76 advantageously brings the free end 85 of the body 74 very close to the pedestal 80 so that it can be removed from the stand 69 as described in more detail below. The reach of device 6 along longitudinal axis 34 can be as long as desired.

For example, as can be seen from FIGS. 1, 16 and 17, the tool 4 further includes a reciprocating device 86 mounted on the pedestal 80 of the rotating device 64 . More specifically, the reciprocating device 86 can be said to include a platform 88 installed on the pedestal 80 and a support 90 movably installed on the platform 88 . The platform 88 is said to have first and second sides 91A, 91B opposite each other. Reciprocator 86 further includes a belt 92 extending between platform 88 and support 90, and a mount 94 mounted on support 90, such as mount 94 between support 90 and device 6. Including the intervening gimbal device. Reciprocator 86 further includes a drive mechanism 96 that extends between platform 88 and support 90 to bring them into operative relationship.

Reciprocator 86 further includes a plurality of retaining wheels 98 rotatably mounted on platform 88 and engaging supports 90 . There are two pairs of retaining wheels 98 in the illustrated embodiment, one pair of retaining wheels 98 movably clamping a first portion of the support 90 and the other pair of retaining wheels 98 gripping another portion of the support 90 . is movably clamped. Similarly, a set of four positioning wheels 99 are rotatably mounted on the mount 94, each pair of these positioning wheels 99 also being positioned on opposite sides of the support 90 to provide support. It engages two different portions of portion 90 .

It can be seen that support 90 more specifically includes an arcuate elongate flange 100 that is concave with respect to platform 88 and has a constant radius. That is, the direction of the radius of curvature of flange 100 is the same as the direction in which platform 88 lies relative to flange 100 . Flange 100 has a first end 101A and a second end 101B opposite each other. First end 101A of flange 100 extends generally away from first side 91A of platform 88, and second end 101B of flange 100 extends generally away from second side 91B of platform 88. direction. Support 90 further includes a toothed rack 102 formed on flange 100 . A drive mechanism 96 engages a plurality of teeth on toothed rack 102 to move mount 94 between a plurality of positions relative to manipulator device 60 .

For example, Figures 1, 3, 19 and 20 show the reciprocating device 86 in a central position. In the illustrated embodiment, this central position is the position where the mount 94 is closest to and overlaps the platform 88 on the flange 100, equidistant from the first end 101A and the second end 101B. is. FIGS. 5-8 and 16 show the reciprocator in one of its extreme positions, which distances support 90 and mount 94 (and thus device 6 ) farthest from frame 32 in the arcuate direction. 5-8, the distance between first end 101A of flange 100 and first side 91A of platform 88 is the distance between second end 101B of flange 100 and second side 91B of platform 88. Relatively larger than the interval. Similarly, FIG. 17 illustrates that the reciprocating device is in another tip position relative to manipulator device 60 in which platform 90 and mount 94 (and thus device 6) are furthest apart from manipulator device 60 in the opposite arc direction. Indicates a state. 17, the spacing between first end 101A of flange 100 and first side 91A of platform 88 is relative to the spacing between second end 101B of flange 100 and second side 91B of platform 88. relatively small. 17, the distance between second end 101B of flange 100 and second side 91B of platform 88 is greater than the distance between first end 101A of flange 100 and first side 91A of platform 88. . FIG. 21 shows an intermediate position of the reciprocating device between, for example, the central position shown in FIG. 19 and one extreme position shown, for example, in FIG. The reciprocator 86 is continuously movable between all positions between one tip position, for example shown in FIG. 16, and the other tip position, for example, shown in FIG. ) can be moved in an arc 19 between the two tip positions shown in FIGS.

For example, as can be seen in FIGS. 19 and 21, the belt 92 has two anchoring locations indicated by reference numerals 104A and 104B, which are located adjacent opposite ends 101A and 101B of the flange 100. It extends around a pair of pulleys indicated at 105A, 105B to form a closed loop. Belt 92 is also secured to platform 88 at approximately its midpoint, which is another securement location 104C.

As can be seen in FIG. 22, the drive mechanism 96 includes a motor 106 mounted on the platform 88 with a shaft 108 extending from the motor 106 in connection with a gear train 110 via an intermediate bevel gear 112 . Gear train 110 includes a drive gear 114 that meshes with rack 102 of support 90 . Rotation of shaft 108 of motor 106 by energization or other means rotates drive gear 114 to move support 90 relative to platform 88 . The reason is that the platform 88 is fixed to the pedestal 80 of the manipulator device 60 . Belt 92 is secured to platform 88 at anchor location 104C such that when support 90 moves from the central position shown in FIG. 19 toward one of the extreme positions shown in FIG. is applied to the anchoring location 104A of the mount 94 and this force moves the mount 94 along with the positioning wheel 99 in the longitudinal direction of the support 90 toward the first end 101A of the flange 100. As shown in FIG. It can also be said that such movement of mount 94 is generally in a direction away from first side 91 A of platform 88 .

The incremental distance that mount 94 moves in arcuate direction 19 relative to platform 88 is twice the incremental distance that support 90 moves in arcuate direction 19 relative to platform 88 . This is accomplished by reversing and stretching belt 92 over the concave surface of flange 100 (ie, the surface on which rack 102 is formed) and the opposite convex surface. For example, if support 90 moves one inch to the left in arc direction 19 in FIG. Because belt 92 is secured to platform 88 at anchor location 104C, mount 94 moves in arc direction 19 to the left in FIG. The distance that the mount 94 moves in the arcuate direction 19 between the extreme positions of FIGS. Although certain portions of the support 90 must be held securely between pairs of retaining wheels 98 on the platform 88, the geometric relationships described above allow the mount 94 and the upper can be moved in the arc direction over a distance nearly twice as far as the movement distance of the support 90 in the arc direction 19 . Further, the combined configuration of drive mechanism 96 and belt 92 allows a single drive mechanism 96 to drive both support 90 and mount 94 .

To load the BWR 10 for use with the tool 4, the manipulator device 60 is first placed in a retracted position as schematically illustrated in FIGS. 9-12. 9-12, in the retracted position, the reciprocator 86 and mounted device 6 are completely contained within the interior space 44, thus allowing the tool 4 to move longitudinally into one of the fuel cells 22. can be loaded. In the retracted position, elongate support 90 is generally aligned with longitudinal axis 34 . The manipulator device 60 is normally held in the retracted position until the foot 38 engages the socket 24 of the fuel cell 22 into which the tool 4 is loaded. The drive mechanism 68 can then be actuated (extended in the illustrated embodiment) to move the manipulator device 60 from the retracted position shown in FIGS. 9-12 to the extended position. In the extended position, support 90 is positioned outside interior space 44 and elongate support 90 is substantially aligned with longitudinal axis 34 . The actuator 76 of the rotating device 64 can then be actuated to pivot the reciprocating device 86 between the extended and deployed positions. In the deployed position, as schematically illustrated in FIG. 4, the longitudinal body of support 90 is rotated by rotating device 64 so that it is oriented generally transversely to longitudinal axis 34 .

Also in the above operation, frame 32 is pivoted relative to foot 38 about longitudinal axis 30 to align arcuate platform 88 along arcuate inner surface 14 of shroud 12, as shown schematically in FIG. It may be necessary to energize or otherwise activate the motor 42 of the foot assembly 36 to move it into position. In this regard, the manipulator device 60 and the pivoting mechanism 40 can be moved between the positions shown in FIGS. 9-12 and the position shown in FIG. It will be appreciated that the order of actuation may generally be arbitrary. For example, in a given situation, pivot mechanism 40 may first be actuated to move frame 32 to the position shown schematically in FIG. It may be desirable to locate it on the outside, but not in the immediate vicinity of the inner surface 14 . Rotation device 64 is then energized or otherwise actuated to rotate pedestal 80 approximately 90 degrees to orient elongate support 90 generally transverse to longitudinal axis 34 . Thereafter, drive 68 is further actuated to move support 90 closer to inner surface 14 until it is positioned as schematically shown in FIG. Accordingly, as long as support 90 is in the extended position outside interior space 44 prior to energizing or otherwise actuating rotating device 44, the operations to achieve the positional relationship of FIG. 2 are generally performed in any order. be able to.

FIG. 2 shows the reciprocator 86 in a central position, for example similar to FIGS. Energizing or otherwise actuating the drive mechanism 96 moves the reciprocator 86 from the center position to between the extreme positions shown in FIGS. can be moved in an arc direction 19 between different positions along the inner surface 14 at a given vertical height as shown in FIG. After moving the reciprocating device 86 between the two extreme positions shown, for example, in FIGS. , and the device 6 mounted on that mount 94 can be moved from the previous vertical position shown in FIG. 4 to another vertical position, either upwards or downwards.

For example, the tool 4 is initially deployed relative to the shroud 12 in the position shown in FIGS. can be made This mode of operation can be called a second mode of operation of the manipulator device 60 . Each time the shuttle 86 is moved between the extreme arcuate positions shown in FIGS. Such alternating arcuate and axial movement causes the reciprocating device 86 (and thus the device 6) to move progressively along the circumferential section of the inner surface 14, e.g. 4, a large circumferential section of shroud 12 will be inspected from the position schematically shown in FIG.

In this regard, as can be seen in FIG. 6, positioning the manipulator device 60 on the lifting device 52 so that the free end 85 of the manipulator device 60 extends from the stand 69 generally toward the foot 38 will cause the reciprocating device 86 (and thus the The device 6) can be moved to a very low vertical position on the shroud 12. This allows inspection of horizontal welds 18, for example. The tool 4 can then be removed from the fuel cell 22 and partially disassembled to bring the manipulator device 60 on the lifting device 52 into a first operating configuration, for example as schematically illustrated in FIG. In this configuration of operation, free end 85 of manipulator device 60 extends from stand 69 generally away from foot 38 . The first and second modes of operation referred to herein do not suggest operating in any particular order.

Upon repositioning of the tool 4 in the fuel cell 22 with the manipulator assembly 60 in the second operating configuration as schematically illustrated in FIG. By moving vertically along the axial direction 17 to a very high position, the shroud 12 in the area adjacent to the upper grid plate 26 can be inspected. Since the manipulator device 60 is switchable between the two modes of operation shown in FIGS. 1 and 5, alternating the mode of operation of the manipulator device 60 allows the device 6 to move the shroud 12 vertically, for example for inspection or other purposes. Has access to a full range of directions. Again, with the tool 4 loaded into a given fuel cell 22 and the reciprocator 86 actuated, the mount 94 (and thus the device 6) may be moved from the support 90 for inspection or other purposes. A strip of approximately twice the length of the arc direction 19 can be accessed. A handle 116 on the top of the frame 32 allows the tool 4 to be connected to a lifting mechanism to lower the tool 4 into and out of the corresponding fuel cell 22 .

All of the aforementioned operations and control of device 6, eg, detection of ultrasound data from device 6 during examination, control of other types of devices 6 that interact with shroud 12, may be performed by computer system . Accordingly, the configuration of tool 4 and reciprocator 86 advantageously permits rapid access to interior surface 14 of shroud 12 and thereby inspection and other manipulation of interior surface 14 . Other benefits will become apparent.

Although specific embodiments of the invention have been described in detail, those skilled in the art can develop various modifications and alternatives to those detailed embodiments in light of the teachings of the entire disclosure. Therefore, the specific arrangements disclosed herein are for illustrative purposes only and do not in any way limit the scope of the invention, which is defined by the full scope of the appended claims and all equivalents thereof. contain things.

Claims (6)

configured for mounting on a tool (4) receivable in an interior region (8) of a core shroud (12) of a boiling water reactor (10) and for carrying a device (6) into said interior region. a reciprocating device (86) comprising:
a platform (88) configured to be mounted on the tool and having first and second opposite sides (91A) and (91B);
An elongated support (90) mounted on the platform and having first and second ends (101A) and (101B) opposite to each other and having a longitudinal axis with respect to the platform. direction in a first direction, the first direction being the direction in which movement causes the first end to move away from the first side surface, and is opposite to the first direction a support (90) movable in a second direction of the movement, the second direction being the direction in which the movement moves the second end relatively away from the second side; ,
An elongated flexible belt (92) secured to the platform at one or more locations (104A, 104B, 104C) along its length and extends around at least a portion of the support to form a closed loop. and moving relative to said at least a portion of said support as said support moves in said first direction and said second direction;
a mount (94) mounted on the belt and configured to carry the device;
a drive mechanism (96) operatively extending between the support and one of the platform and the belt for moving the reciprocator between its first and second states; a drive mechanism (96) operable to
In the first state, the portion of the support extending from the first side is relatively larger than the portion extending from the second side, and the mount is relatively wide at the second end. located closer to the first end than the part;
In the second state, the portion of the support extending from the second side is relatively larger than the portion extending from the first side, and the mount is relatively close to the first end. A reciprocating device (86) characterized in that it is located closer to said second end than to the part. 2. The reciprocating device of claim 1, wherein said support is elongated in an arc of constant radius. said belt extending about a first location (105A) adjacent said first end and about a second location (105B) adjacent said second end; 2. The method of claim 1, wherein relative movement between said belt and said first position and said second position occurs when the belt moves between said first state and said second state. reciprocating device. 4. The reciprocating device of claim 3, wherein said drive mechanism operatively extends between said support and said platform. 5. The reciprocating apparatus of claim 4, wherein said support includes a toothed rack (102) and said drive mechanism operatively extends between said toothed rack and said platform. The mount is secured to the belt and the reciprocating device moves between the first state and the second state when the support is moved relative to the platform by operation of the drive mechanism. 6. The reciprocating device of claim 5, wherein relative movement occurs between said belt and said first and second positions when moving.

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